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mbed/drivers/CAN.h@0:c88c3b616c00, 2020-03-16 (annotated)

Committer:
IKobayashi
Date:
Mon Mar 16 23:37:42 2020 +0900
Revision:
0:c88c3b616c00
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IKobayashi 0:c88c3b616c00 1 /* mbed Microcontroller Library
IKobayashi 0:c88c3b616c00 2 * Copyright (c) 2006-2013 ARM Limited
IKobayashi 0:c88c3b616c00 3 *
IKobayashi 0:c88c3b616c00 4 * Licensed under the Apache License, Version 2.0 (the "License");
IKobayashi 0:c88c3b616c00 5 * you may not use this file except in compliance with the License.
IKobayashi 0:c88c3b616c00 6 * You may obtain a copy of the License at
IKobayashi 0:c88c3b616c00 7 *
IKobayashi 0:c88c3b616c00 8 * http://www.apache.org/licenses/LICENSE-2.0
IKobayashi 0:c88c3b616c00 9 *
IKobayashi 0:c88c3b616c00 10 * Unless required by applicable law or agreed to in writing, software
IKobayashi 0:c88c3b616c00 11 * distributed under the License is distributed on an "AS IS" BASIS,
IKobayashi 0:c88c3b616c00 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
IKobayashi 0:c88c3b616c00 13 * See the License for the specific language governing permissions and
IKobayashi 0:c88c3b616c00 14 * limitations under the License.
IKobayashi 0:c88c3b616c00 15 */
IKobayashi 0:c88c3b616c00 16 #ifndef MBED_CAN_H
IKobayashi 0:c88c3b616c00 17 #define MBED_CAN_H
IKobayashi 0:c88c3b616c00 18
IKobayashi 0:c88c3b616c00 19 #include "platform/platform.h"
IKobayashi 0:c88c3b616c00 20
IKobayashi 0:c88c3b616c00 21 #if DEVICE_CAN
IKobayashi 0:c88c3b616c00 22
IKobayashi 0:c88c3b616c00 23 #include "hal/can_api.h"
IKobayashi 0:c88c3b616c00 24 #include "platform/Callback.h"
IKobayashi 0:c88c3b616c00 25 #include "platform/PlatformMutex.h"
IKobayashi 0:c88c3b616c00 26
IKobayashi 0:c88c3b616c00 27 namespace mbed {
IKobayashi 0:c88c3b616c00 28 /** \addtogroup drivers */
IKobayashi 0:c88c3b616c00 29 /** @{*/
IKobayashi 0:c88c3b616c00 30
IKobayashi 0:c88c3b616c00 31 /** CANMessage class
IKobayashi 0:c88c3b616c00 32 *
IKobayashi 0:c88c3b616c00 33 * @Note Synchronization level: Thread safe
IKobayashi 0:c88c3b616c00 34 */
IKobayashi 0:c88c3b616c00 35 class CANMessage : public CAN_Message {
IKobayashi 0:c88c3b616c00 36
IKobayashi 0:c88c3b616c00 37 public:
IKobayashi 0:c88c3b616c00 38 /** Creates empty CAN message.
IKobayashi 0:c88c3b616c00 39 */
IKobayashi 0:c88c3b616c00 40 CANMessage() : CAN_Message() {
IKobayashi 0:c88c3b616c00 41 len = 8;
IKobayashi 0:c88c3b616c00 42 type = CANData;
IKobayashi 0:c88c3b616c00 43 format = CANStandard;
IKobayashi 0:c88c3b616c00 44 id = 0;
IKobayashi 0:c88c3b616c00 45 memset(data, 0, 8);
IKobayashi 0:c88c3b616c00 46 }
IKobayashi 0:c88c3b616c00 47
IKobayashi 0:c88c3b616c00 48 /** Creates CAN message with specific content.
IKobayashi 0:c88c3b616c00 49 */
IKobayashi 0:c88c3b616c00 50 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
IKobayashi 0:c88c3b616c00 51 len = _len & 0xF;
IKobayashi 0:c88c3b616c00 52 type = _type;
IKobayashi 0:c88c3b616c00 53 format = _format;
IKobayashi 0:c88c3b616c00 54 id = _id;
IKobayashi 0:c88c3b616c00 55 memcpy(data, _data, _len);
IKobayashi 0:c88c3b616c00 56 }
IKobayashi 0:c88c3b616c00 57
IKobayashi 0:c88c3b616c00 58 /** Creates CAN remote message.
IKobayashi 0:c88c3b616c00 59 */
IKobayashi 0:c88c3b616c00 60 CANMessage(int _id, CANFormat _format = CANStandard) {
IKobayashi 0:c88c3b616c00 61 len = 0;
IKobayashi 0:c88c3b616c00 62 type = CANRemote;
IKobayashi 0:c88c3b616c00 63 format = _format;
IKobayashi 0:c88c3b616c00 64 id = _id;
IKobayashi 0:c88c3b616c00 65 memset(data, 0, 8);
IKobayashi 0:c88c3b616c00 66 }
IKobayashi 0:c88c3b616c00 67 };
IKobayashi 0:c88c3b616c00 68
IKobayashi 0:c88c3b616c00 69 /** A can bus client, used for communicating with can devices
IKobayashi 0:c88c3b616c00 70 */
IKobayashi 0:c88c3b616c00 71 class CAN {
IKobayashi 0:c88c3b616c00 72
IKobayashi 0:c88c3b616c00 73 public:
IKobayashi 0:c88c3b616c00 74 /** Creates an CAN interface connected to specific pins.
IKobayashi 0:c88c3b616c00 75 *
IKobayashi 0:c88c3b616c00 76 * @param rd read from transmitter
IKobayashi 0:c88c3b616c00 77 * @param td transmit to transmitter
IKobayashi 0:c88c3b616c00 78 *
IKobayashi 0:c88c3b616c00 79 * Example:
IKobayashi 0:c88c3b616c00 80 * @code
IKobayashi 0:c88c3b616c00 81 * #include "mbed.h"
IKobayashi 0:c88c3b616c00 82 *
IKobayashi 0:c88c3b616c00 83 * Ticker ticker;
IKobayashi 0:c88c3b616c00 84 * DigitalOut led1(LED1);
IKobayashi 0:c88c3b616c00 85 * DigitalOut led2(LED2);
IKobayashi 0:c88c3b616c00 86 * CAN can1(p9, p10);
IKobayashi 0:c88c3b616c00 87 * CAN can2(p30, p29);
IKobayashi 0:c88c3b616c00 88 *
IKobayashi 0:c88c3b616c00 89 * char counter = 0;
IKobayashi 0:c88c3b616c00 90 *
IKobayashi 0:c88c3b616c00 91 * void send() {
IKobayashi 0:c88c3b616c00 92 * if(can1.write(CANMessage(1337, &counter, 1))) {
IKobayashi 0:c88c3b616c00 93 * printf("Message sent: %d\n", counter);
IKobayashi 0:c88c3b616c00 94 * counter++;
IKobayashi 0:c88c3b616c00 95 * }
IKobayashi 0:c88c3b616c00 96 * led1 = !led1;
IKobayashi 0:c88c3b616c00 97 * }
IKobayashi 0:c88c3b616c00 98 *
IKobayashi 0:c88c3b616c00 99 * int main() {
IKobayashi 0:c88c3b616c00 100 * ticker.attach(&send, 1);
IKobayashi 0:c88c3b616c00 101 * CANMessage msg;
IKobayashi 0:c88c3b616c00 102 * while(1) {
IKobayashi 0:c88c3b616c00 103 * if(can2.read(msg)) {
IKobayashi 0:c88c3b616c00 104 * printf("Message received: %d\n\n", msg.data[0]);
IKobayashi 0:c88c3b616c00 105 * led2 = !led2;
IKobayashi 0:c88c3b616c00 106 * }
IKobayashi 0:c88c3b616c00 107 * wait(0.2);
IKobayashi 0:c88c3b616c00 108 * }
IKobayashi 0:c88c3b616c00 109 * }
IKobayashi 0:c88c3b616c00 110 * @endcode
IKobayashi 0:c88c3b616c00 111 */
IKobayashi 0:c88c3b616c00 112 CAN(PinName rd, PinName td);
IKobayashi 0:c88c3b616c00 113 virtual ~CAN();
IKobayashi 0:c88c3b616c00 114
IKobayashi 0:c88c3b616c00 115 /** Set the frequency of the CAN interface
IKobayashi 0:c88c3b616c00 116 *
IKobayashi 0:c88c3b616c00 117 * @param hz The bus frequency in hertz
IKobayashi 0:c88c3b616c00 118 *
IKobayashi 0:c88c3b616c00 119 * @returns
IKobayashi 0:c88c3b616c00 120 * 1 if successful,
IKobayashi 0:c88c3b616c00 121 * 0 otherwise
IKobayashi 0:c88c3b616c00 122 */
IKobayashi 0:c88c3b616c00 123 int frequency(int hz);
IKobayashi 0:c88c3b616c00 124
IKobayashi 0:c88c3b616c00 125 /** Write a CANMessage to the bus.
IKobayashi 0:c88c3b616c00 126 *
IKobayashi 0:c88c3b616c00 127 * @param msg The CANMessage to write.
IKobayashi 0:c88c3b616c00 128 *
IKobayashi 0:c88c3b616c00 129 * @returns
IKobayashi 0:c88c3b616c00 130 * 0 if write failed,
IKobayashi 0:c88c3b616c00 131 * 1 if write was successful
IKobayashi 0:c88c3b616c00 132 */
IKobayashi 0:c88c3b616c00 133 int write(CANMessage msg);
IKobayashi 0:c88c3b616c00 134
IKobayashi 0:c88c3b616c00 135 /** Read a CANMessage from the bus.
IKobayashi 0:c88c3b616c00 136 *
IKobayashi 0:c88c3b616c00 137 * @param msg A CANMessage to read to.
IKobayashi 0:c88c3b616c00 138 * @param handle message filter handle (0 for any message)
IKobayashi 0:c88c3b616c00 139 *
IKobayashi 0:c88c3b616c00 140 * @returns
IKobayashi 0:c88c3b616c00 141 * 0 if no message arrived,
IKobayashi 0:c88c3b616c00 142 * 1 if message arrived
IKobayashi 0:c88c3b616c00 143 */
IKobayashi 0:c88c3b616c00 144 int read(CANMessage &msg, int handle = 0);
IKobayashi 0:c88c3b616c00 145
IKobayashi 0:c88c3b616c00 146 /** Reset CAN interface.
IKobayashi 0:c88c3b616c00 147 *
IKobayashi 0:c88c3b616c00 148 * To use after error overflow.
IKobayashi 0:c88c3b616c00 149 */
IKobayashi 0:c88c3b616c00 150 void reset();
IKobayashi 0:c88c3b616c00 151
IKobayashi 0:c88c3b616c00 152 /** Puts or removes the CAN interface into silent monitoring mode
IKobayashi 0:c88c3b616c00 153 *
IKobayashi 0:c88c3b616c00 154 * @param silent boolean indicating whether to go into silent mode or not
IKobayashi 0:c88c3b616c00 155 */
IKobayashi 0:c88c3b616c00 156 void monitor(bool silent);
IKobayashi 0:c88c3b616c00 157
IKobayashi 0:c88c3b616c00 158 enum Mode {
IKobayashi 0:c88c3b616c00 159 Reset = 0,
IKobayashi 0:c88c3b616c00 160 Normal,
IKobayashi 0:c88c3b616c00 161 Silent,
IKobayashi 0:c88c3b616c00 162 LocalTest,
IKobayashi 0:c88c3b616c00 163 GlobalTest,
IKobayashi 0:c88c3b616c00 164 SilentTest
IKobayashi 0:c88c3b616c00 165 };
IKobayashi 0:c88c3b616c00 166
IKobayashi 0:c88c3b616c00 167 /** Change CAN operation to the specified mode
IKobayashi 0:c88c3b616c00 168 *
IKobayashi 0:c88c3b616c00 169 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
IKobayashi 0:c88c3b616c00 170 *
IKobayashi 0:c88c3b616c00 171 * @returns
IKobayashi 0:c88c3b616c00 172 * 0 if mode change failed or unsupported,
IKobayashi 0:c88c3b616c00 173 * 1 if mode change was successful
IKobayashi 0:c88c3b616c00 174 */
IKobayashi 0:c88c3b616c00 175 int mode(Mode mode);
IKobayashi 0:c88c3b616c00 176
IKobayashi 0:c88c3b616c00 177 /** Filter out incomming messages
IKobayashi 0:c88c3b616c00 178 *
IKobayashi 0:c88c3b616c00 179 * @param id the id to filter on
IKobayashi 0:c88c3b616c00 180 * @param mask the mask applied to the id
IKobayashi 0:c88c3b616c00 181 * @param format format to filter on (Default CANAny)
IKobayashi 0:c88c3b616c00 182 * @param handle message filter handle (Optional)
IKobayashi 0:c88c3b616c00 183 *
IKobayashi 0:c88c3b616c00 184 * @returns
IKobayashi 0:c88c3b616c00 185 * 0 if filter change failed or unsupported,
IKobayashi 0:c88c3b616c00 186 * new filter handle if successful
IKobayashi 0:c88c3b616c00 187 */
IKobayashi 0:c88c3b616c00 188 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
IKobayashi 0:c88c3b616c00 189
IKobayashi 0:c88c3b616c00 190 /** Returns number of read errors to detect read overflow errors.
IKobayashi 0:c88c3b616c00 191 */
IKobayashi 0:c88c3b616c00 192 unsigned char rderror();
IKobayashi 0:c88c3b616c00 193
IKobayashi 0:c88c3b616c00 194 /** Returns number of write errors to detect write overflow errors.
IKobayashi 0:c88c3b616c00 195 */
IKobayashi 0:c88c3b616c00 196 unsigned char tderror();
IKobayashi 0:c88c3b616c00 197
IKobayashi 0:c88c3b616c00 198 enum IrqType {
IKobayashi 0:c88c3b616c00 199 RxIrq = 0,
IKobayashi 0:c88c3b616c00 200 TxIrq,
IKobayashi 0:c88c3b616c00 201 EwIrq,
IKobayashi 0:c88c3b616c00 202 DoIrq,
IKobayashi 0:c88c3b616c00 203 WuIrq,
IKobayashi 0:c88c3b616c00 204 EpIrq,
IKobayashi 0:c88c3b616c00 205 AlIrq,
IKobayashi 0:c88c3b616c00 206 BeIrq,
IKobayashi 0:c88c3b616c00 207 IdIrq,
IKobayashi 0:c88c3b616c00 208
IKobayashi 0:c88c3b616c00 209 IrqCnt
IKobayashi 0:c88c3b616c00 210 };
IKobayashi 0:c88c3b616c00 211
IKobayashi 0:c88c3b616c00 212 /** Attach a function to call whenever a CAN frame received interrupt is
IKobayashi 0:c88c3b616c00 213 * generated.
IKobayashi 0:c88c3b616c00 214 *
IKobayashi 0:c88c3b616c00 215 * @param func A pointer to a void function, or 0 to set as none
IKobayashi 0:c88c3b616c00 216 * @param event Which CAN interrupt to attach the member function to (CAN::RxIrq for message received, CAN::TxIrq for transmitted or aborted, CAN::EwIrq for error warning, CAN::DoIrq for data overrun, CAN::WuIrq for wake-up, CAN::EpIrq for error passive, CAN::AlIrq for arbitration lost, CAN::BeIrq for bus error)
IKobayashi 0:c88c3b616c00 217 */
IKobayashi 0:c88c3b616c00 218 void attach(Callback<void()> func, IrqType type=RxIrq);
IKobayashi 0:c88c3b616c00 219
IKobayashi 0:c88c3b616c00 220 /** Attach a member function to call whenever a CAN frame received interrupt
IKobayashi 0:c88c3b616c00 221 * is generated.
IKobayashi 0:c88c3b616c00 222 *
IKobayashi 0:c88c3b616c00 223 * @param obj pointer to the object to call the member function on
IKobayashi 0:c88c3b616c00 224 * @param method pointer to the member function to be called
IKobayashi 0:c88c3b616c00 225 * @param event Which CAN interrupt to attach the member function to (CAN::RxIrq for message received, TxIrq for transmitted or aborted, EwIrq for error warning, DoIrq for data overrun, WuIrq for wake-up, EpIrq for error passive, AlIrq for arbitration lost, BeIrq for bus error)
IKobayashi 0:c88c3b616c00 226 */
IKobayashi 0:c88c3b616c00 227 template<typename T>
IKobayashi 0:c88c3b616c00 228 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
IKobayashi 0:c88c3b616c00 229 // Underlying call thread safe
IKobayashi 0:c88c3b616c00 230 attach(Callback<void()>(obj, method), type);
IKobayashi 0:c88c3b616c00 231 }
IKobayashi 0:c88c3b616c00 232
IKobayashi 0:c88c3b616c00 233 /** Attach a member function to call whenever a CAN frame received interrupt
IKobayashi 0:c88c3b616c00 234 * is generated.
IKobayashi 0:c88c3b616c00 235 *
IKobayashi 0:c88c3b616c00 236 * @param obj pointer to the object to call the member function on
IKobayashi 0:c88c3b616c00 237 * @param method pointer to the member function to be called
IKobayashi 0:c88c3b616c00 238 * @param event Which CAN interrupt to attach the member function to (CAN::RxIrq for message received, TxIrq for transmitted or aborted, EwIrq for error warning, DoIrq for data overrun, WuIrq for wake-up, EpIrq for error passive, AlIrq for arbitration lost, BeIrq for bus error)
IKobayashi 0:c88c3b616c00 239 */
IKobayashi 0:c88c3b616c00 240 template<typename T>
IKobayashi 0:c88c3b616c00 241 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
IKobayashi 0:c88c3b616c00 242 // Underlying call thread safe
IKobayashi 0:c88c3b616c00 243 attach(Callback<void()>(obj, method), type);
IKobayashi 0:c88c3b616c00 244 }
IKobayashi 0:c88c3b616c00 245
IKobayashi 0:c88c3b616c00 246 static void _irq_handler(uint32_t id, CanIrqType type);
IKobayashi 0:c88c3b616c00 247
IKobayashi 0:c88c3b616c00 248 protected:
IKobayashi 0:c88c3b616c00 249 virtual void lock();
IKobayashi 0:c88c3b616c00 250 virtual void unlock();
IKobayashi 0:c88c3b616c00 251 can_t _can;
IKobayashi 0:c88c3b616c00 252 Callback<void()> _irq[IrqCnt];
IKobayashi 0:c88c3b616c00 253 PlatformMutex _mutex;
IKobayashi 0:c88c3b616c00 254 };
IKobayashi 0:c88c3b616c00 255
IKobayashi 0:c88c3b616c00 256 } // namespace mbed
IKobayashi 0:c88c3b616c00 257
IKobayashi 0:c88c3b616c00 258 #endif
IKobayashi 0:c88c3b616c00 259
IKobayashi 0:c88c3b616c00 260 #endif // MBED_CAN_H
IKobayashi 0:c88c3b616c00 261
IKobayashi 0:c88c3b616c00 262 /** @}*/